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Hi eric1221bday,

The design document you're referring to is actually a format, and the implementation is not limited to just those tags. We started by writing the "parsing functions" of the tags that were available in roslaunch XML, but new ones can be easily added.

Here is Node's parsing function as an example.

The following actions will need a parsing function to get the functionality you're asking for:

• https://github.com/ros2/launch_ros/blob/d25e2b334897b9c4526b1dcd1c8025debc245737/launch_ros/launch_ros/actions/composable_node_container.py#L31
• https://github.com/ros2/launch_ros/blob/d25e2b334897b9c4526b1dcd1c8025debc245737/launch_ros/launch_ros/actions/load_composable_nodes.py#L35

I'm not currently planning to add it, contributions are welcomed. Also, you can ping me if you have any question.

Best, Regards